Discrete-time sliding mode control apparatus and method for process system having a dead time

摘要

PROBLEM TO BE SOLVED: To provide a discrete time sliding mode control system whose robust stability and adaptive controllability is excellent for a process system having a dead time.;SOLUTION: In this discrete time sliding mode controller designated for the model of a linear transmission function expressing an object 11 to be controlled, the model of the object 11 to be controlled includes a linear approximate formula obtained by Pad approximating the dead time elements of the object 11 to be controlled. A disturbance observer 12 estimates state variables x₁ and x₂ and disturbance d from an input u and an output y of the object 11 to be controlled. A supervisor 13 is provided with a function of optimizing a target value r in the process according to the history of a disturbance estimated value from the disturbance observer 12, and stabilizing an integrated value z of a deviation between a target value r and the output y of the object 11 to be controlled. Sliding mode arithmetic parts 14-23 calculates a control input u to the object 11 to be controlled based on the target value r and the output y of the object 11 to be controlled and the estimated values of the stage variables x₁ and x₂ from the disturbance observer 12.;COPYRIGHT: (C)2002,JPO